A mechanical hand point glue path fine adjustment device based on 3D vision

Abstract

The utility model discloses a mechanical hand point gum path fine adjustment device based on 3D vision, including base, mechanical arm, cantilever, carrier plate, air cylinder, glue pot, glue injection pipe, brush and 3D camera, the middle part of base is connected in mechanical arm, and the top of mechanical arm is fixedly connected with cantilever, the cantilever is hollow tubular, and is provided with rotating seat at both ends, and is provided with the through avoidance gap of side, a pair of rotating seat is rotatably connected with screw rod, and the middle part of screw rod is screwed with nut seat, and the top of screw rod is connected with hand wheel, the side fixed connection of nut seat has lifting rod, and lifting rod is fixedly connected with carrier plate through avoidance gap, by rotating hand wheel, drive screw rod to rotate, because lifting rod is fixedly connected with carrier plate through avoidance gap, and avoidance gap restricts lifting rod and nut seat to rotate, and nut seat can only ascend or descend along the central axis of screw rod, and nut seat drives lifting rod and carrier plate to move along. Thus reach the fine adjustment brush height purpose.

Description

Technical Field

[0001] This utility model relates to a 3D vision-based robotic arm dispensing path fine-tuning device, and more particularly to its fine-tuning structure, belonging to the field of dispensing machinery. Background Technology

[0002] In industrial production, dispensing is widely used in electronics, automotive, medical, and many other fields. The precision and quality of dispensing directly affect the precision and reliability of products. With the trend towards product refinement and miniaturization, the precision requirements for the dispensing path of robotic arms are becoming increasingly stringent. Traditional robotic arm dispensing systems often rely on pre-set fixed paths for dispensing operations. However, in actual production, if the dispensing brush is too close to the workpiece, the brush may bend excessively, causing it to extend beyond the preset dispensing area. This results in adhesive being applied to areas outside the pre-set area, and adhesive adhering to other parts. Furthermore, some areas within the preset dispensing area may remain untreated. These situations lead to defective products. Utility Model Content

[0003] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a 3D vision-based robotic arm dispensing path fine-tuning device.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a 3D vision-based robotic arm dispensing path fine-tuning device, comprising a base, a robotic arm, a cantilever, a carrier plate, a cylinder, a glue container, a dispensing tube, a brush, and a 3D camera. The robotic arm is connected to the middle of the base, and the top of the robotic arm is fixedly connected to the cantilever. The cylinder is fixedly connected to the carrier plate, and the movable end of the cylinder is connected to the glue container. The outlet of the glue container is connected to the dispensing tube, and the outlet of the dispensing tube is equipped with a brush. A 3D camera is connected to the lower surface of the carrier plate. The cantilever is a hollow tubular structure with rotating seats at both ends and a through clearance slot on the side. A screw is rotatably connected to a pair of rotating seats, with a nut seat screwed into the middle of the screw and a handwheel connected to the top of the screw. A lifting rod is fixedly connected to the side of the nut seat, and the lifting rod is fixedly connected to the carrier plate through the clearance slot.

[0005] A further feature of this invention is that a valve is provided in the middle of the dispensing tube.

[0006] The present invention is further configured such that: a plurality of suction cups are provided on the base, and workpieces are adsorbed on the suction cups; the suction cups are located directly below the brush.

[0007] A further feature of this invention is that a number of LED beads are arranged around the 3D camera.

[0008] A further feature of this invention is that a nut is screwed onto the screw rod, and the nut is tightened to abut against the top of the cantilever.

[0009] A further feature of this invention is that the end side of the lifting rod is connected to the carrier plate by a number of ribs.

[0010] The present invention is further configured such that: both sides of the cantilever are provided with the clearance joint, and both ends of the lifting rod pass through the clearance joint.

[0011] Compared with existing technologies, the beneficial effects of this utility model are as follows: By rotating the handwheel, the screw is driven to rotate. Since the lifting rod is fixedly connected to the carrier plate through the clearance joint, the clearance joint restricts the rotation of the lifting rod and the nut seat. The nut seat can only rise or fall along the central axis of the screw, and the nut seat drives the lifting rod and the carrier plate to move accordingly. This achieves the purpose of fine-tuning the brush height. When the distance between the brush and the workpiece is adjusted to be appropriate, the brush is slightly bent and only moves outside the preset dispensing range. The area of ​​adhesive application exactly overlaps with the preset dispensing range, with no adhesive overflow and no adhesion to other parts. The product qualification rate is higher. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a 3D vision-based robotic arm dispensing path fine-tuning device according to a preferred embodiment of the present invention. Figure 2 This is a schematic diagram of the cantilever, screw, and nut seat.

[0013] In the diagram: 1. Base; 2. Robotic arm; 3. Cantilever; 4. Lifting rod; 5. Carrier plate; 6. Cylinder; 7. Glue bottle; 8. Glue injection tube; 9. Valve; 10. Brush; 11. Suction cup; 12. Workpiece; 13. Handwheel; 14. Screw; 15. Rotating seat; 16. Nut seat; 17. 3D camera; 18. LED bead; 19. Nut; 20. Rib plate; 21. Clearance seam. Detailed Implementation

[0014] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0015] See appendix Figure 1-2As shown, this embodiment of a 3D vision-based robotic dispensing path fine-tuning device includes a base 1, a robotic arm 2, a cantilever 3, a carrier plate 5, a cylinder 6, a glue container 7, a dispensing tube 8, a brush 10, and a 3D camera 17. The robotic arm 2 is connected to the middle of the base 1, and its top end is fixedly connected to the cantilever 3. The cylinder 6 is fixedly connected to the carrier plate 5, and its movable end is connected to the glue container 7. The outlet of the glue container 7 is connected to the dispensing tube 8, and the outlet of the dispensing tube 8 is equipped with a brush 10. The lower surface of the carrier plate 5 is connected to the 3D camera 17. The cantilever 3 is a hollow tube with rotating seats 15 at both ends and a through clearance slit 21 on its side. A screw 14 is rotatably connected to a pair of rotating seats 15, and a nut seat 16 is screwed into the middle of the screw 14. A handwheel 13 is connected to the top of the screw 14. A lifting rod 4 is fixedly connected to the side of the nut seat 16, and the lifting rod 4 is fixedly connected to the carrier plate 5 through the clearance slit 21.

[0016] By rotating the handwheel 13, the screw 14 is driven to rotate. Since the lifting rod 4 is fixedly connected to the carrier plate 5 through the clearance joint 21, the clearance joint 21 restricts the rotation of the lifting rod 4 and the nut seat 16. The nut seat 16 can only rise or fall along the central axis of the screw 14, and the nut seat 16 drives the lifting rod 4 and the carrier plate 5 to move accordingly. This achieves the purpose of fine-tuning the brush height. When the distance between the brush and the workpiece 12 is properly adjusted, the brush bends slightly and only moves outside the preset dispensing range. The area of ​​glue application exactly overlaps with the preset dispensing range, with no glue overflow and no adhesion to other parts. The product qualification rate is higher.

[0017] To facilitate control over the amount of adhesive applied to the surface of workpiece 12 and to ensure an appropriate adhesive layer thickness, this invention further includes a valve 9 located in the middle of the dispensing tube 8. By adjusting the opening of valve 9, an appropriate adhesive layer thickness can be achieved on the surface of workpiece 12.

[0018] The present invention is further configured such that: a plurality of suction cups 11 are provided on the base 1, and workpieces 12 are adsorbed on the suction cups 11; the suction cups 11 are located directly below the brush 10.

[0019] To improve the accuracy of positioning the workpiece 12, this invention further includes a plurality of LED beads 18 arranged around the 3D camera 17. The LED beads 18 emit strong light to illuminate the workpiece 12, allowing the 3D camera 17 to more clearly distinguish the position of the workpiece 12.

[0020] After adjusting the height of the brush 10, to prevent the screw 14 from rotating on its own, it needs to be locked. This invention further includes a nut 19 screwed onto the screw 14, which is tightened to abut against the top of the cantilever 3. Tightening the nut 19 abuts against the cantilever 3, preventing the screw 14 from rotating on its own.

[0021] To enhance the connection between the lifting rod 4 and the carrier plate 5, this invention further comprises: the end side of the lifting rod 4 is connected to the carrier plate 5 by a plurality of ribs 20. The ribs 20 connect the side of the lifting rod 4 to the carrier plate 5, thereby enhancing the strength between the lifting rod 4 and the carrier plate 5. Preferably, the lifting rod 4 and the carrier plate 5, as well as the ribs 20 and the lifting rod 4 and the carrier plate 5, are all welded together.

[0022] To enhance stability, this invention is further configured such that: both sides of the cantilever 3 are provided with clearance slots 21, and both ends of the lifting rod 4 pass through the clearance slots 21. The pair of clearance slots 21 limit the movement of the lifting rod 4, making its movement more stable.

[0023] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A 3D vision-based robotic dispensing path fine-tuning device, comprising a base (1), a robotic arm (2), a cantilever (3), a carrier plate (5), a cylinder (6), a glue container (7), a dispensing tube (8), a brush (10), and a 3D camera (17). The robotic arm (2) is connected to the middle of the base (1), and the top of the robotic arm (2) is fixedly connected to the cantilever (3). The cylinder (6) is fixedly connected to the carrier plate (5), and the movable end of the cylinder (6) is connected to the glue container (7). The outlet of the glue container (7) is connected to the dispensing tube (8), and the outlet of the dispensing tube (8) is provided with a brush (10). The lower surface of the carrier plate (5) is connected to the 3D camera (17). Its features are, The cantilever (3) is a hollow tube with rotating seats (15) at both ends and a through clearance seam (21) on the side. A screw (14) is rotatably connected to a pair of rotating seats (15). A nut seat (16) is screwed into the middle of the screw (14), and a handwheel (13) is connected to the top of the screw (14). A lifting rod (4) is fixedly connected to the side of the nut seat (16), and the lifting rod (4) is fixedly connected to the carrier plate (5) through the clearance seam (21).

2. The robotic arm dispensing path fine-tuning device based on 3D vision according to claim 1, characterized in that, A valve (9) is provided in the middle of the glue injection tube (8).

3. The robotic arm dispensing path fine-tuning device based on 3D vision according to claim 1, characterized in that, The base (1) is provided with several suction cups (11), and the workpiece (12) is adsorbed on the suction cups (11); the suction cups (11) are located directly below the brush (10).

4. The 3D vision-based robotic dispensing path fine-tuning device according to claim 1, characterized in that, The 3D camera (17) is surrounded by several LED beads (18).

5. The robotic arm dispensing path fine-tuning device based on 3D vision according to claim 1, characterized in that, A nut (19) is screwed onto the screw (14), and the nut (19) is tightened and abuts against the top of the cantilever (3).

6. The robotic arm dispensing path fine-tuning device based on 3D vision according to claim 1, characterized in that, The end side of the lifting rod (4) is connected to the carrier plate (5) by a number of ribs (20).

7. The robotic arm dispensing path fine-tuning device based on 3D vision according to claim 1, characterized in that, The cantilever (3) has clearance seams (21) on both sides, and the lifting rod (4) has clearance seams (21) at both ends.

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